Lidar based object detection near vehicle

The paper presents a proposed sensing system for vehicles based on lidar. Three short range lidars where used to fuse the measurement data into a point set in which objects in front of the vehicle could be detected via proposed algorithm for clustering the point set. The lidars are able to measure distance up to the 40 meters, making the system suitable for the urban environments. The lidars were mounted onto the stepper motors. compactRIO (cRIO) controlled the communication with lidars and movement of the motors, also the algorithm ran on the real-time part of the cRIO. The algorithm is built on the idea of the nearest neighbour approach and shows promising results on the synthetic data.